/*
 * Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
 * 
 * This program is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License as published by the Free Software
 * Foundation; either version 2 of the License, or (at your option) any later
 * version.
 * 
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
 * details.
 * 
 * You should have received a copy of the GNU General Public License along with
 * this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 * Place, Suite 330, Boston, MA 02111-1307 USA
 * 
 * -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ 
 * $Date: 2005/01/27 22:08:44 $ 
 * $Source: /cvsroot/simbad/src/simbad/demo/DifferentialKinematicDemo.java,v $
 */
package simbad.demo;

import javax.vecmath.Color3f;
import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;

import simbad.sim.Agent;
import simbad.sim.Box;
import simbad.sim.DifferentialKinematic;
import simbad.sim.RobotFactory;

/**
 * A differential drive (two wheels) kinematic demo. This demo demonstrates the
 * usage of the DifferentialKinematic instead of the standard one.
 * 
 */
public class DifferentialKinematicDemo extends Demo {

	public class Robot extends Agent {
		DifferentialKinematic kinematic;
		int state;

		public Robot(Vector3d position, String name) {
			super(position, name);
			// Change the kinematic to differentialDrive
			kinematic = RobotFactory.setDifferentialDriveKinematicModel(this);
		}

		/** Initialize Agent's Behavior */
		@Override
		public void initBehavior() {
			state = 0;
		}

		/** Perform one step of Agent's Behavior */
		@Override
		public void performBehavior() {

			// here we do not use SetTranslationalVelocity and
			// SetRotationalVelocity.
			// Instead we control directly the wheels velocity.
			// We need to use the kinematic object to do so.

			if (getCounter() % 300 == 0) {

				switch (state) {

				// turn right
				case 0:
					kinematic.setWheelsVelocity(0.8, 0.5);
					break;
				// turn left
				case 1:
					kinematic.setWheelsVelocity(0.5, 0.8);
					break;

				case 2:
					kinematic.setWheelsVelocity(-0.8, 0.5);
					break;
				// on place
				case 3:
					kinematic.setWheelsVelocity(0.8, 0);
					break;
				// forward
				case 4:
					kinematic.setWheelsVelocity(0.1, 0.1);
					break;
				// backward
				case 5:
					kinematic.setWheelsVelocity(-0.5, -0.5);
					state = -1;
					break;

				}
				state++;
			}

			if (collisionDetected())
				moveToStartPosition();
		}

	}

	public DifferentialKinematicDemo() {
		boxColor = new Color3f(0.6f, 0.5f, .3f);

		add(new Box(new Vector3d(-8, 0, 0), new Vector3f(0.1f, 1, 16), this));
		add(new Box(new Vector3d(0, 0, -8), new Vector3f(16, 1, 0.1f), this));
		add(new Box(new Vector3d(8, 0, 0), new Vector3f(0.1f, 1, 16), this));
		add(new Box(new Vector3d(0, 0, 8), new Vector3f(16, 1, 0.1f), this));

		// Add a robot.
		add(new Robot(new Vector3d(0, 0, 0), "my robot"));

	}
}